Drag-steering walking-needle machine

ABSTRACT

In a walking-needle sewing machine or the like having a cyclically moving work point or tool, means for automatically feeding a curvilinear edge of a workpiece beneath the tool including means adapted to establish the position of the curvilinear edge with respect to the work point, and a dragsteering means activated thereby. The drag-steering means comprises in a preferred embodiment a spring-loaded contact face that reciprocates synchronously with the needle, normally lightly contacting the surface of the workpiece at a point laterally spaced from the work point. When activated, the drag-steering means exerts a firm restraining force on the workpiece so that the workpiece is retarded by and traces a shortened path under the point of contact of the drag-steering means as the workpiece is advanced through the machine by the walking needle and advancement mechanism, and the edge thereof rotates towards the work point. The material is guided or caused to rotate in the opposite direction as may be required by means of a guide or fence on the side of the needle opposite from the drag-steering means.

United States Patent [72] lnventor Edward D. Rosenberg Levlttown, N.Y.

[21 Appl. No. 22,625

[22] Filed Mar. 25, 1970 [45] Patented Aug. 10, I971 [73] Assignee Ivanhoe Research Corporation New York, N.Y.

[S4] DRAG-STEERlNG WALKlNG-NEEDLE MACHINE 11 Claims, 7 Drawing Figs.

52 u.s.c|. 112/205, 112/47,112/121.|s,211/52.112/213 s11 lnt.Cl. ..D05b27/20, DOSb27/26 so Fieldot'Search ..n2/121.13,

[56] References Cited UNITED STATES PATENTS 2,971,483 2/1961 Cordier 1 12/205 3,080,836 3/1963 Clemens et a1. 1 12/203 X 3,468,269 9/1969 Des Qrmeaux et al t. 1 12/213 Primary Examiner-James R. Boler Attorney-Burgess, Dinklage and Sprung ABSTRACT: ln a walking-needle sewing machine or the like having a cyclically moving work point or tool, means for automatically feeding a curvilinear edge of a workpiece beneath the tool including means adapted to establish the position of the curvilinear edge with respect to the work point, and a drag-steering means activated thereby. The drag-steering means comprises in a preferred embodiment a spring-loaded contact face that reciprocates synchronously with the needle,

normally lightly contacting the surface of the workpiece at a point laterally spaced from the work point. When activated, the drag-steering means exerts a firm restraining force on the workpiece so that the workpiece is retarded by and traces a shortened path under the point of contact of the drag-steering means as the workpiece is advanced through the machine by the walking needle and advancement mechanism, and the edge thereof rotates towards the work point. The material is guided or caused to rotate in the opposite direction as may be required by means ofa guide or fence on the side of the needle opposite from the drag-steering means.

PATENIEUAUGIOIQII v 3598.070

' sum 1 or 4 EDWARD D. ROSENBERG INVENTOR B rt, 1%:

PATENTED AUG 1 0 19?:

SHEET 2 [IF 4 EDWARD D. ROSENBERG INVENTOR PATENTED mm 0 um SHEET 3 BF 4 LIGHT SOURCE ,(76) OPENING IN WORK SURFACE PHOTOELECTRIC CELL THRESHOLD AMPLIFIER SOLENOID FIG. 5

E 0 WA R0 0. ROSENBERG INVENTOR FIG. 6 BY WWW PATENTEUAUEIOIQH 3.598.070

SHEZT '4 BF 4 l PATH OF WORK LwoRK PATH PATH AND P|ECE AND DSTANCE I OF NEEDLE DISTANCE OF OF TRAVEL WHEN? (EXAGGERATEDH75) WORK PIECE UNRESTRAINED 4) WHEN NEEDLE (73 RESTRAINED CONTACT POINT (72) OF DRAG STEERER (7|) SENSING POINT (76) L CURVILINEAR PATH 0N WORK PIECE (7?) EDWARD D. ROSENBERG INVENTOR FIG. 7

I I reciprocnte;synchronously. with-the needle,. workpiece is impaled. the turning moment is so Tlieiniprovement of this inventio canvas turnubout and into the work poin i a particularly-directed to stitehiiig'at'or" (neat th'ilt'ritneed-fnot-be so. li

I thatshown so that the theimprovements-ofthis'inven FIG, 2' is an enlarged ,scanningfmeuns and command ci force'on the workpiece Prior machine 'th a conventional feed dog'rnechanisrn with means. for man e workpiece along a predetermined line or trace; in 'particul arv- -the-"contour of the'workpiece The patentee'provides-ineans bn feither side of the work point for im'paling .thew causestheworkpiece 'to pivot about theimpalingkpoints. The means'i-fforc-iinpaling the workpiece do not,- apparently,v and. since the" ddenandsharp as no provision-is made for the workpiece .to, while impaled, slip pastime-pivot: point during theztime the pivotingaction is beingie'xerted;

THIS INVENTION a This invention is an improved..arrange'men t"forhautcimati of'rkpi ec' e ewhile the needlelisraisedwliich'iwhen activated" ',598;070: -7- iiRAdSTEl-Zmhc,wxLxmcinn fim c -,U,S Pat. No. 2,971,483 (Cordier) discloses a sewing 5 cally'feedingbr-guiding. the curvilinear edge of a workpiece such as'cloth goods past or underthe work point of a sewing or like machinehaving a cyclically movingiwork point. r

' n is p'articularlyapplicable m 'walltin'gsneedle machine used for h casting; and. the like sewing operations on materials; havingv relatively-stiff and/or heavy body characteristics, for example,

,denimlfabric with body, leather.- or other like materilnzaddition to the co mponentszusual to a-conventional sews. a h ne-ear. a w

rklsurface; a reciprocating sewing needle; ineans for'advancinglztheworkpiece, etc.,' the apparatus .of -theinvention comprises: v 1- J I v o 1 means adaptedto establish the work-path of the workpiece with respect to the needlework point-orwork whim: f" i leans, here referred to as a drag-steerer, for causing, as eg iiredon command. irom the control niean s, the;workpiecetd"tracea' curvilinearpath'througha point' laterally :spaced-from' the work work puth 'on the work piece in adva l. h'ilc this invention is g-the'curvilineur edge photoelectric sensor, could I as-well renew; apredeterrninedcurviiinear path: to effect stitching 'anywher e-in the interior of .theaworkpiece or the work path to' be followed .eould bc'programmed'aswitha-counter or a computer,- for example. Also,

a second ,drag'-.steerer c workpiece can be made'to turn into the work path from the opposite direction. v

THE DRAWINGS ln i the drawings: I FlG. l j-illustrates 'awalking-needl machine incorporating tion-operatingto attacha binduarteri/ v perspective view ogeration ofiFlG. I; viewed workpiece into'the machine;

ing tape tqthe'edge of a' shoe q of the, stitching I 1 FIG. 3f:is:a.fperspective view-ofthe-working'area from the 7 d ;cha rge;side.,.and shows-ingreater detail the action of the drag-steererwhen: it isnot exerting its guiding action; 4

no. 4.;isthe some us FIG. 3 'eitce-pt that it shows'th'e dragsteerer atntime when it isexerting ils-guiding-uc tion; i FIG Sis 'u' schematic illustrationfof one type of edge rcuit'that canbe used-in the practice'of-thisinvention; H f

'FlG'. 6-illustrates atype ofdrag-steerer-that can be used. in particular the rnechanism for activating the drag-'steererso that it exerts-.a-predeterrnined' firm restrainingjor steeringwhen desired; andpoint, soas to'eause a' point in the nce ofthe work point ofa workpiece. itwill be appreciated I mited; asthe control meuns egn-a from the point-ofthe feed of the The guide shaft'32 helps to advance the binding tape frets fed on no; 7 diag'rammaticail paratus ofthisinventiom,

' Like parts have thesamenumbcrthroughotit,the drawing s; I

With reference to-the drawings; thenumber-IO representsgenerally a walking-needle machine operatings-to attach a binding'tape 16 to theedgeotia workpieee such as. ashoe 7 quarter 15. Thesewing machine'hasa' conventional stitching needle an guide gene a'longthe line ofthe rallyindicated' at "which reciprocates work as better illustrated in-:FIG'. 3, and workpiece past the work point. The

workpiece 15. is suitably introducedto'theworkpoim; and the I i I In a supply' roll,17. illust'rated'iii l 'iG.

2'(but =n'ot illustrated in-FlG. 1)

Y 'Asis knownfthe:stitchingi'needle oia walking-needle sewingv 'tnachine-reciprocates vertically engaging anddiseng a gingthe workpiece, The :needle also; cyclically, walks along the -workpath whileserigaging. the workpiece and disengages itself from thev workpiecefandireturns tothexpoint of'heginningt ln-ac c'ordance with-the invention a'drag-inducing means-is made to reciprocate with-the needle, and .when called-upon to do so, exerts=al-dragesteering force upon thevylorltpiece. Asjillusemming, binding, overtrated-g the drag force-ior-pressureeinducingnmember is p in the form ofa'foot'or shoe 36r'mounted in a housing.30.'

The-housing is. coupled to a guide shaft 3l which;rides in a'support '32. Thesupport 32i's attached'to themachine"). is caused; to reciprocate synchronously withthe-needle b'ymeans'ot a cam 33 shaft 31; thershaftfilbeing biased away frornzthe' bedof the machine l0.- Theicam 33'-is driven by the samepower source asthe'machine 10 by drivin gthe' cam- 33 'via sh'a -'.ln-addition, inthe-ernbodiment illustrated, a sensing-means is-usedto'det'errnine the position of the edge ofthe workpiece lSJ-with respect to a sensing point slightljinad vanceof the stitching-needle work path; Asillust'rated, 'thisis aaphotoelectric cell arrangement; schematically illustratedinF lG. S-and I shown in the otherFigures as consistingof a-lightsou rce 40'- anbeused on theopposite side-from pliiier. Threshold 44 is passed to mechanism that employs a force face-of awo'rkpiececan consist shining through' an opening. 42in the bed orzworkingsurface uced on-the w could'helocatedthereubovefi g The cell .43- (FIG. '5-) provides: tin-electric output proper 'tional to the amount of light received; whenstheilight intensity is reduced; as byv the workpiece. covering all or a large part of the openingl42, the output of the I output applied to' th e amplifier-thresholdfi l is blocked-by such"threshold. When the-light intensity is increased asby a largepart or'all ofthe opening'42 being uncovered;the- .output of the'cell 43 is increased'and su energized solenoid 50'so that solenoid 50 extends its plunger 51, andthus the hammer-52 is driven or-pressed against the activatinglever or locking lever bar 39; The threshold function ofthe threshold amplifier 44-is' preferablyadjusted so that the I the electric output of the photocell 43 at one half n itnum lightintensity ofthe source 40.

With reference {to FIG. 6',

ormal maxor pressure exerting device to e'xerta controlled predetermined force or pressure on the-sura shaft, The shaft and shoe 3 '6, are carried in' a housing 30 which is connected to a guide shaft 3i, Suchdevice may be similar to'the device describedand claimed byDonald M i I Controlled Force Hustcd'in a copendingzupplieation entitled Applicutor'-"filed on the same day as the present application and assigned to a common assignec. The h I to move synchronously with the needle so t 36- makes contact with the'work the time'the needle l 2. is engaged. with the workpiece l5, duringathe sewingcycle; f

Without actuation ofthe-loc tion ofthe solenoid 50 extend king level bar 39 as by energiz ainggthe plunger 5'! and contactillustratesi-thef action; of the a actin'gon' the topsof the cell'43 isreduced and such ch output applied tothe ama threshold level corresponds to" one type ofw'dragfsteering of a shoe or foot 36 coupled to' ousing 30 is caused hat theshoeor foot 1, piece l5 during part or allol' ing hammer 52, the collar 38 is free toftravel with respect to the housing 30. When the shoe 36 contacts the surface of the workpiece l and the housing 30 continues to approach the surface, the shoe 36-and its shaft recede into the housing and compress weak' spring 35, spring 37 being substantially stronger than spring 35. Thus the shoe 36 is made'to contact the surface of workpiece with a relatively'light, resilient force orlpressure permitting the workpiece to slide 74 with little effort under the shoe as the workpiece is advanced with the aid of the walking mechanism of the sewing machine. it will be appreciated that the workpiece need be of a relatively heavy-bodied material other material; 1 When the locking lever bar 39 is actuated, the bar 39 communicates with the collar 38 and limits the travel of the collar 38 with respect to the housing 30. When the shoe 36 contacts the'surface of the workpiece l5 and the housing 30 continues to approach the surface of the workpiece, the shoe 36 and its shaft recede into the housing, but the collar 38 is prohibited from receding into the housing; and as 'the' shoeand shaft as opposed to a flimsy fabric'or opposition and will effectively nudge the edge of the material to a position where it is over sensing point"42' and to lineup with the work path of the needle. I

With reference to FIG. 7, it can be seen clearly that this invention contemplates "that the workpiece is -='ne'ver-, totally restrained from movement by the restraining force exerted'by the drag-steerensho'wn as a contact point '7l'; Instead when thedrag-steerer exerts its controlling pressure, some slippage is permitted such thatthe workpiece traces a'shortened path .72 away from the initial; work point of the needle '73. This shortened path under the contact' point is made. somewhat shorter in length equivalent to the linear distance 74, depend and expose the opening 42 during a stitching cycle, the output move, thestrong spring 37, located between the collar 38 and the shoe 36, becomes compressed;'and the shoe 36 is forced with astrong, resilient force or pressure against the surface of the workpiece 15 providing a large resistance to the advancement of that part of the workpiece in contact with the shoe so that the workpiece is dragged through the contact point 71 in a shortened path 72. Since the travel of the workpiece through the contact point 71 is reduced in length and the travel of the workpiece engaged by the. needle 73 at 75 FIG. 7 remains the same, the-workpiece is made .to pivot about the needle as the needle moves along the work path 75 thereby dragging with it the edg'e or path p toward alignment p' with'the work path. The point p on the path or edge of the workpiece 15 is shown on a curve portion of the workpiece path or edge receding from the reciprocal of the extension of the work path 75.

As the-needle 12 becomes disengaged from the workpiece 15, the shaft v31 follows the ascension of the needle, and the force exerted by the shoe 36 is released;

Sh'oe 36 need not'act upon the workpiece the whole of the cycle time the needle is engaging the workpiece. As described below, the shoe 36 can be controlled to apply a restraining force only during a portion of this time, particularly if only a limited control action is required. I

if the workpiece 15 is not extending over opening 42, as shown in FIG. 4, the drag-steerer is activated to exert the just described firm restraining force. if the workpiece 15 does extend over the sensing point 42,'as illustratedin FlG.3, the

drag-steerer is not activated to exert its firm restraining force but instead exerts only itsnormal light contact force.

The sewing machine may also include a guide or flange 19 to cause the tape 16 to curl about the edge of the workpiece. This guide 19 can also be used to guide the edge of the workpiece underneath the-needle if the workpiece because of its curvilinear shape tends to extend over or beyond sensing point 42 .as illustrated in FIG. 2. However, when only using one drag-steering system as in the embodiment shown, it is preferred to also'placea fence 18 on the side opposite from the side the drag-steerer operates on, to aid in the guiding of the material past the work point.

When the machine commences its stitching action and the workpiece 15 starts to move forward in cooperation with the walking needle, the edge of the workpiece 15 may extend beyond sensing point 42' or fall short thereof. if it falls short of covering 'substantially half of the sensing opening 42, the light intensity" passing through the opening 42 will activate the photoelectric cell and will thereby cause the drag-steerer. as it reciprocates; to contact the work surfacewith a firm restraining or dragging force. with some slippage thereunderQwhich force will cause the fabric to trace a shortened path under the contact pointand to pivot about the moving (walking) needle and thrust the edge (pi back into line (12') with sensing point 42. If the edge of the material as it moves forward tends to extend over sensing point 42, then guide 19 will provide passive of the photocell 43 may fall below the threshold level, and the solenoid may become deenergized and release its plunger 51 and hammer 52 permitting the locking lever bar 39 to release collar 38 and thereby relieve the pressure applied on shoe 36 by spring 37. This will effectively release the drag-steering force applied to the workpiece 15 prior to normal release, during the cycle of operation.

When the control force is released, a point p on the curvilinear path 77 (which may be the edge of theworkpiece 15 or a path across the surface of the workpiece) to be followed by the workpiece is thrown towards and into the work path 75 of the needle, ilel, the point p moves curvilinearly towards p about the axis of the needle as the work path 75. I

it is noted that a conventional walking-needle machine includes a presser foot as shown in FIG. 2, associated with the needle guide 11. This presser foot is omitted from FIGS. 3 and 4 for purposes of clarity of illustration of the invention.

it will be apparent that the shoe 36 has relatively low friction characteristics with respect to the-material of the work- 'piece 15. ,While the mechanical drag-steering arrangement shown is preferred since it will not tend to soil .the article being worked on, one skilled in the art will appreciate that 'a hydraulic activated arrangement can be used. A hydraulic piston can be used to exert the force created by spring 37 in the embodiment illustrated as the drag-steerer descends with the amount of the drag-steering workpiece in a work path and advancement means for advanc-' ing said piece along said work path; the improvement for automatically positioning said workpiece to permit the stitching to follow a curvilinear path, comprising: control means adapted to establish said work path, and a drag steering means:

spaced laterally from said work path, adapted to' intermittently contact said workpiece at a point of contact in phase with the action of said needle, said contact normally being a loose contact that permits said workpiece to slide thereunder, and operatively connected to said control means and adapted to, upon command therefrom, exert a restraining action on said workpiece during at least a portion of the time said drag-steering means is in contact therewith, causing said workpiece in cooperation with said advancement means to follow a curvilinear path under said point of contact and a point on said edge in advance of said work path to turn into said work path.

needle moves along the.

in the above-referred-to patent,

2. The sewing machine of claim 1 wherein said control means comprises a sensor photoelectric cell and light source adapted to pass a sensing light beam through a sensing point generally orthogonally to said workpiece a predetermined distance of said work path, and further adapted when said edge does not extend over said sensing point to issue said command.

3. The sewing machine of claim 1 wherein said drag-steering means comprises a contact shoe, first and second springs adapted to act on said shoe, a housing guiding said shoe and said springs, and a spring checking means for checking one of said springs, said shoe normally being lightly restrained by the other of said springs when brought into contact with said workpiece as said drag-steering means reciprocates and brings said shoe into contact with said workpiece, and upon said command, said spring checking means serving to restrain said one of said springs'with respect to said housing as said dragsteering means brings said shoe into contact with said workpiece, thereby compressing said one of said springs against said shoe and causing said shoe to exert said restraining action.

4. In a walking-needle sewing or like machine having means for advancing a planar workpiece through a work path on said machine's work surface, a workpiece guidance system for guiding said workpiece to said work path along a predetermined curvilinear path on said workpiece, an improved workpiece guidance system comprising, in combination:

control means adapted to determine whether said predetermined curvilinear path is to one side or the other of said work path, and further adapted to issue a command when said predetermined curvilinear path is on said one side; and

steering means adapted to reciprocate toward and away from the surface of said workpiece for repeatedly contacting the same with normally a light unrestraining pres sure for permitting linear advance of said workpiece with the walking needle of said walking-needle sewing machine, and upon issuance of command by said control means for exerting a firm restraining pressure on, without penetration of, the surface of said workpiece at a point spaced laterally from said work path on said one side for causing said workpiece at said spaced point and at the location of said needle to arcuately divert from said linear advance under dragging restraint in cooperation with said firm restraining pressure'on said workpiece at said spaced point and said means for advancing said workpiece for throwing a point on said curvilinear path in advance of said work path into said work path.

5. The machine of claim 4 wherein said predetermined curvilinear path is one edge of said workpiece and comprising in addition thereto an edge guide adapted to act onsaid one edge when said one edge tends to extend beyond said work path on said other side, and to guide thereby said edge over said work point.

6. Apparatus for steering a fabric workpiece or the like along a predetermined path through a work point of a machine having a tool which aids in cyclically advancing the workpiece through said work point, said steering apparatus operating cooperatively with said tool, said machine includ- 8;

a work surface for supporting said workpiece,

a predetermined track in said predetermined path defining said work point,

a tool adapted to perform work on said workpiece cyclically in which said tool engages said workpiece and travels along said predetermined track in a first direction and means adapted to advance said workp'ece in said first direction cooperatively with said too when said tool travels in said first direction along said predetermined track, and said steering apparatus including,

workpiece restraining means offset from said track, operating during at least part of the time that the tool engages said workpiece for reducing advancement in said first direction of a portion of sat workpiece offset from said work point for causing said workpiece so engaged by said tool to pivot about said tool as said tool and said workpiece advance along said predetermined track in said first direction.

7. Apparatus for steering a fabric workpiece as in claim 6 and steering apparatus further includes control means for controlling said workpiece restraining means for effecting dragging contact with said workpiece by said workpiece restraining means for altering the path of said workpiece presented to said tool.

8 Apparatus for steering a fabric workpiece as in claim 6 and said steering apparatus further includes control means responsive to deviation of said workpiece from said predetermined path for effecting restraining contact by said restraining means with said workpiece for altering the path of said workpiece for conforming with said predetermined path.

9. Apparatus for steering a fabric workpiece as in claim 6 and in which said tool is a needle of a walking-needle sewing machine in which the needle engages said workpiece and travels along said predetermined track in said first direction while engaging said workpiece and disengages from said workpiece and returns to the point of beginning while disengaged from said workpiece and said workpiece restraining means includes a reciprocating foot adapted to contact said workpiece and retard advancement ofsaid workpiece at the point of contact, while permitting full advancement of said workpiece at said work point.

10. Apparatus for steering a fabric workpiece as in claim 9 and further including control means for controlling said reciprocating foot for effecting advance-retarding contact by said foot with said workpiece during the time said needle is engaged with said workpiece.

11. Apparatus for steering a fabric workpiece as in claim 9 and further including control means for controlling said reciprocating foot for effecting advance-retarding contact by said foot with said workpiece during a portion of the time said needle is engaged with said workpiece. 

1. In a sewing machine having a reciprocating walking needle that penetrates and stitches a relatively stiff form-stable workpiece in a work path and advancement means for advancing said piece along said work path; the improvement for automatically positioning said workpiece to permit the stitching to follow a curvilinear path, comprising: control means adapted to establish said work path, and a drag steering means: spaced laterally from said work path, adapted to intermittently contact said workpiece at a point of contact in phase with the action of said needle, said contact normally being a loose contact that permits said workpiece to slide thereunder, and operatively connected to said control means and adapted to, upon command therefrom, exert a restraining action on said workpiece during at least a portion of the time said dragsteering means is in contact therewith, causing said workpiece in cooperation with said advancement means to follow a curvilinear path under said point of contact and a point on said edge in advance of said work path to turn into said work path.
 2. The sewing machine of claim 1 wherein said control means comprises a sensor photoelectric cell and light source adapted to pass a sensing light beam through a sensing point generally orthogonally to said workpiece a predetermined distance of said work path, and further adapted when said edge does not extend over said sensing point to issue said command.
 3. The sewing machine of claim 1 wherein said drag-steering means comprises a contact shoe, first and second springs adapted to act on said shoe, a housing guiding said shoe and said springs, and a spring checking means for checking one of said springs, said shoe normally being lightly restrained by the other of said springs when brought into contact with said workpiece as said drag-steering means reciprocates and brings said shoe into contact with said workpiece, and upon said command, said spring checking means serving to restrain said one of said springs with respect to said housing as said drag-steering means brings said shoe into contact with said workpiece, thereby compressing said one of said springs against said shoe and causing said shoe to exert said restraining action.
 4. In a walking-needle sewing or like machine having means for advancing a planar workpiece through a work path on said machine''s work surface, a workpiece guidance system for guiding said workpiece to said work path along a predetermined curvilinear path on said workpiece, an improved workpiece guidance system comprising, in combination: control means adapted to determine whether said predetermined curvilinear path is to one side or the other of said work path, and further adapted to issue a command when said predetermined curvilinear path is on said one side; and steering means adapted to reciprocate toward and away from the surface of said workpiece for repeatedly contacting the same with normally a light unrestraining pressure for permitting linear advance of said workpiece with the walking needle of said walking-needle sewing machine, and upon issuance of coMmand by said control means for exerting a firm restraining pressure on, without penetration of, the surface of said workpiece at a point spaced laterally from said work path on said one side for causing said workpiece at said spaced point and at the location of said needle to arcuately divert from said linear advance under dragging restraint in cooperation with said firm restraining pressure on said workpiece at said spaced point and said means for advancing said workpiece for throwing a point on said curvilinear path in advance of said work path into said work path.
 5. The machine of claim 4 wherein said predetermined curvilinear path is one edge of said workpiece and comprising in addition thereto an edge guide adapted to act on said one edge when said one edge tends to extend beyond said work path on said other side, and to guide thereby said edge over said work point.
 6. Apparatus for steering a fabric workpiece or the like along a predetermined path through a work point of a machine having a tool which aids in cyclically advancing the workpiece through said work point, said steering apparatus operating cooperatively with said tool, said machine including; a work surface for supporting said workpiece, a predetermined track in said predetermined path defining said work point, a tool adapted to perform work on said workpiece cyclically in which said tool engages said workpiece and travels along said predetermined track in a first direction and means adapted to advance said workpiece in said first direction cooperatively with said tool when said tool travels in said first direction along said predetermined track, and said steering apparatus including, workpiece restraining means offset from said track, operating during at least part of the time that the tool engages said workpiece for reducing advancement in said first direction of a portion of said workpiece offset from said work point for causing said workpiece so engaged by said tool to pivot about said tool as said tool and said workpiece advance along said predetermined track in said first direction.
 7. Apparatus for steering a fabric workpiece as in claim 6 and said steering apparatus further includes control means for controlling said workpiece restraining means for effecting dragging contact with said workpiece by said workpiece restraining means for altering the path of said workpiece presented to said tool.
 8. Apparatus for steering a fabric workpiece as in claim 6 and said steering apparatus further includes control means responsive to deviation of said workpiece from said predetermined path for effecting restraining contact by said restraining means with said workpiece for altering the path of said workpiece for conforming with said predetermined path.
 9. Apparatus for steering a fabric workpiece as in claim 6 and in which said tool is a needle of a walking-needle sewing machine in which the needle engages said workpiece and travels along said predetermined track in said first direction while engaging said workpiece and disengages from said workpiece and returns to the point of beginning while disengaged from said workpiece and said workpiece restraining means includes a reciprocating foot adapted to contact said workpiece and retard advancement of said workpiece at the point of contact, while permitting full advancement of said workpiece at said work point.
 10. Apparatus for steering a fabric workpiece as in claim 9 and further including control means for controlling said reciprocating foot for effecting advance-retarding contact by said foot with said workpiece during the time said needle is engaged with said workpiece.
 11. Apparatus for steering a fabric workpiece as in claim 9 and further including control means for controlling said reciprocating foot for effecting advance-retarding contact by said foot with said workpiece during a portion of the time said needle is engaged with said workpiece. 